Numerical Simulation and Design of a Mechanical Structure of an Ankle Exoskeleton for Elderly People

Abstract

This article presents the numerical simulation and design of an ankle exoskeleton oriented to elderly users. For the design, anatomical measurements were taken from a user of this age group to obtain an ergonomic, resistant, and exceptionally reliable mechanical structure. In addition, the design was validated to support a “weight range” of users between 50 and 80 kg in order to evaluate the reaction of the mechanism within the range of loads generated in relation to the first principal stress, the safety coefficient, the Von Mises stress, and principal deformations, for which the 3D CAD software Autodesk Inventor and theoretical correlations were used to calculate the displacement and rotation angles of the ankle in the structure. Likewise, two types of materials were evaluated: ABS (acrylonitrile butadiene styrene) and a polymer reinforced with carbon fiber. Finally, the designed pieces were assembled with the guarantee that the mobility of the system had been validated through the numerical simulation environment, highlighting that by being generated through 3D printing, manufacturing costs are reduced, allowing them to be accessible and ensuring that more people can benefit from this ankle exoskeleton.